package org.usfirst.frc.team3501.robot;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.Intake;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
public class Robot extends IterativeRobot {
+ private static DriveTrain driveTrain;
+ private static Shooter shooter;
+ private static OI oi;
+ private static Intake intake;
+ private CameraServer server;
+ private static UsbCamera intakeCam;
@Override
public void robotInit() {
- DriveTrain.getDriveTrain();
- OI.getOI();
+ driveTrain = DriveTrain.getDriveTrain();
+ oi = OI.getOI();
+ shooter = Shooter.getShooter();
+ intake = Intake.getIntake();
+ server = CameraServer.getInstance();
+ intakeCam = server.startAutomaticCapture();
}
-
- public static DriveTrain getDriveTrain(){
- return DriveTrain.getDriveTrain();
+
+ public static DriveTrain getDriveTrain() {
+ return DriveTrain.getDriveTrain();
}
-
- public static OI getOI(){
- return OI.getOI();
+
+ public static Shooter getShooter() {
+ return Shooter.getShooter();
+ }
+
+ public static OI getOI() {
+ return OI.getOI();
}
+ public static Intake getIntake() {
+ return Intake.getIntake();
+ }
+
+ // If the gear values do not match in the left and right piston, then they are
+ // both set to high gear
@Override
public void autonomousInit() {
+ driveTrain.setHighGear();
}
@Override
@Override
public void teleopInit() {
+
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
}